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Modal Limit Cycle Control for Variable Stiffness Actuated Robots

Lakatos, Dominic and Garofalo, Gianluca and Petit, Florian and Ott, Christian and Albu-Schäffer, Alin (2013) Modal Limit Cycle Control for Variable Stiffness Actuated Robots. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 4919-4926. International Conference on Robotics and Automation, 2013-05-06 - 2013-05-10, Karlsruhe. doi: 10.1109/icra.2013.6631282.

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Abstract

This paper presents a control approach to stabilize limit cycle motions along a mechanical mode of variable stiffness actuated (VSA) robots. Thereby, first a PD controller with gravity and Coriolis/centrifugal compensation shapes a desired dynamics, which is decoupled in terms of modal coordinates. Then an asymptotically stable limit cycle is generated on the link side dynamics for a selected mode. Finally, the modal control approach first introduced for rigid robots is extended to the VSA case. This is done by a joint torque controller, which decouples the torque dynamics from the link side dynamics. Stability and convergence are proven for the dynamics resulting from each feedback control. Furthermore, the energy efficiency of the proposed approach is verified by simulation and experiments on the VSA robotic arm DLR Hand Arm System.

Item URL in elib:https://elib.dlr.de/82682/
Document Type:Conference or Workshop Item (Speech)
Title:Modal Limit Cycle Control for Variable Stiffness Actuated Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lakatos, DominicUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Garofalo, GianlucaUNSPECIFIEDhttps://orcid.org/0000-0002-7481-3464UNSPECIFIED
Petit, FlorianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:May 2013
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI:10.1109/icra.2013.6631282
Page Range:pp. 4919-4926
Series Name:Proceedings of IEEE International Conference on Robotics and Automation
Status:Published
Keywords:limit cycles, modal decoupling, variable stiffness actuation, nonlinear control systems
Event Title:International Conference on Robotics and Automation
Event Location:Karlsruhe
Event Type:international Conference
Event Start Date:6 May 2013
Event End Date:10 May 2013
Organizer:IEEE/RAS
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Terrestrial Assistance Robotics (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Lakatos, Dominic
Deposited On:11 Dec 2013 16:45
Last Modified:24 Apr 2024 19:49

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